2019-20

Dept. Science et Génie des Matériaux

Mechanics of Materials

chapter 3 - Beam mechanics : energy

Contents
1 Elastic energy 2

2 Clapeyron’s theorem 3
2.1 Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.2 Application of the Clapeyron’s theorem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

3 Castigliano’s theorem 6
3.1 definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3.2 Examples on beams : . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

4 Maxwell-Mohr theorem 10
4.1 Superposition and proportionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4.2 definition of Maxwell-Mohr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.3 Application of Maxwell-Mohr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

5 Mohr integral tables 13

6 Questions of chapter 3 15
INSA-Lyon - 4SGM - Mechanics of materials chapter 3: Beam mechanics : energy

1 Elastic energy
We have seen last year the general formulation of the elementary volume energy : δW V = σ̃ : dε̃. This relation is
always valid, even if the behaviour is non-elastic. We have also seen that for an elastic behaviour one can replace the
elementary strain tensor using the Hooke’ law :
1+ν ν
dε̃ = dσ̃ − tr(dσ̃)
E E
which gives
1+ν ν
δW V = σ̃ : dσ̃ − tr(dσ̃ : dσ̃)
E E
Rσ
Elasticity is a reversible process, so that the volume elastic energy can be integrated as : W V = 0 δW V . This can be
easily achieved by first expanding the elementary energy equation. The final result is the following :

1 ν 1
WV = (σxx 2 + σyy 2 + σzz 2 ) − (σxx σyy + σxx σzz + σyy σzz ) + (σxy 2 + σyz 2 + σxz 2 )
2E E 2G
In the case of a beam of axis ~z since σxx = σyy = σxy = 0, the previous relation simplifies to :

1 1
WV = (σzz 2 ) + (σyz 2 + σxz 2 )
2E 2G
This relation can further be integrated over the volume to obtain the elastic energy.

Since the beam mechanics is based on the resultant force and moment F~ (z) and C~G (z), we can replace their components
in the elastic energy formulation and integrate over the directions perpendicular to ~z, ie. over the cross-section,
characterized by different constants Ix , Iy , IG and S. This integration is W L = S W V ds.
R

In order to do it, let’s recall the relation between the stress tensor and the resultant force and couples :

Tx (z) M tz (z)
σx,z (y, z) = − + ·y


S IG





 Ty (z) M tz (z)
σyz (x, z) = − − ·x

 S IG


 M fx (z) M fy (z) Nz (z)
 σz,z (x, y, z) =

 ·y− ·x−
Ix Iy S

1
1

that we substitute in W V = σzz 2 + σyz 2 + σxz 2 :
2E 2G
1
In order to simplify the calculation, lets split the volume energy into two terms : W V (1) = (σzz 2 ) and W V (2) =
2E
1
(σyz 2 + σxz 2 )
2G

M f x 2 2 M f y 2 2 Nz 2
 
1 M f y Nz M f x Nz M fx M fy
W V (1) = ·y + ·x + 2 +2 x−2 y−2 xy
2E Ix 2 Iy 2 S Iy S Ix S Iy Iy

1 R Ry Rx
When integrating over the surface : W(1) = S
σzz 2 ds the 3 last terms are equal to 0 since −y0 0 −x0 0 xdxdy = 0
2E
then the calculation simplifies to :

M fx 2 M fy 2 Nz 2 M fx 2 M fy 2 Nx 2
 Z Z Z 
1
W L (1) = y 2 ds + x2 ds + ds ⇐⇒ W L (1) = + +
2E Ix 2 S Iy 2 S S2 S 2EIx 2EIy 2ES

Calculated using Matlab leads to :

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INSA-Lyon - 4SGM - Mechanics of materials chapter 3: Beam mechanics : energy

syms Tx Ty Mfx Mfy Nz Mtz x y I x I y IG S

s z z = Mfx/ I x ∗y - Mfy/ I y ∗x - Nz/S ;
s x z = - Tx/S + Mtz/IG∗y ;
s y z = - Ty/S - Mtz/IG∗x ;
W1 = expand ( s z z ^ 2 )

W1 =
Nz2 Mfy2 x2 Mfx2 y 2 2MfyNzx 2MfxNzy 2MfxMfyxy
2
+ 2 + 2 + − −
S Iy Ix IyS IxS IxIy

W2 = expand ( s x z ^ 2 + s y z ^ 2 )

W2 =
Tx2 Ty2 Mtz2 x2 Mtz2 y 2 2MtzTyx 2MtzTxy
2
+ 2
+ 2 + 2 + −
S S IG IG IGS IGS
The second part is therefore:

1 Tx 2 Ty 2 M tz 2 2
 
V 2 M tz Ty M tz Tx
W (2) = + 2 + (x + y ) + 2 x−2 y
2G S 2 S IG 2 IG S IG S

similarly to the former equation, when integrating over the surface, the last two terms ar nill. Furthermore, we recall
Tx 2 Ty 2 M tz 2
that IG = Ix + Iy = S (x2 + y 2 )ds , one obtains ⇐⇒ W L (2) =
R
+ +
2GS 2GS 2GIG
So the sum of both parts gives the expression of the linear elastic energy for beams, which is a function of z, axis
of the beam :
M fx 2 M fy 2 Nx 2 Tx 2 Ty 2 M tz 2
W L (z) = + + + + +
2EIx 2EIy 2ES 2GS 2GS 2GIG

The relation allows to calculate the elastic energy of the beam (in Joule) by integrating this expression over the length
of the beam :
Z L
W = W L (z)dz
0

This energy represents the energy stored in the beam. Since the systems are elastic, it represents the energy that can
be relieved from the beam. This aspect is very important. If we consider a large structure of a few tens of meter long,
loaded under high forces, the elastic stored energy might be tremendous. If the structure collapses, then this stored
energy is abruptly released, which might be very hazardous.

2 Clapeyron’s theorem
2.1 Definition
It states that the elastic energy is equal to the sum of the works of the external "forces", which can be written
as :
n
X
W = WF,i
1

The external forces being either applied forces or applied moments (or couples). In the case of forces, let’s recall that
~ where du
the work is δWF = F~ · du ~ is the elementary displacement of the external force, or for a moment the expression
is δWM = M ~ where dθ
~ · dθ ~ is the elementary rotation of the external moment. If we call ~uand θ~ the displacement and
the rotation of the given moment. The system being elastic, the relation F (u) or M (θ) is linear (Figure 1):

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INSA-Lyon - 4SGM - Mechanics of materials chapter 3: Beam mechanics : energy

Figure 1: Load-displacement or moment-rotation linear behaviour.

~ and integrating leads to

This means that F~ = k~u, replacing in the expression δWF = F~ · du
Z u 2
WF = ~ = ku = F u
k~u · du
0 2 2
Mθ
Similarly for an applied moment one obtains WM = . Note that in this chapter we define the so-called generalised
2
force and displacement, which simply means force or moment and displacement and rotation.
So the Clapeyron’s theorem can be written :
n
X 1
W = Fu
1
2

where F and u represent the generalised force and displacement

2.2 Application of the Clapeyron’s theorem

It can be applied to calculate the displacement (or rotation) at the point of a beam where there is an applied force (or
moment), if there is a single force (or moment) applied on the beam.

Example : three point bending

Let’s consider again the case of the three point bending seen in the former chapter (Figure 2).

Figure 2: Three point bend test, force P exhibiting a displacement u

We have already calculated the fundamental diagram and seen that there are only two non-nil components Tx and M fy .
z [0, L/2[ [L/2, L[
Tx (z) RG,x = −P/2 −RD,x = P/2
M fy (z) (P/2) · z −(P/2) · z + P L/2

In this example there is only a single applied force, which means that we can calculate the displacement u of that point.
For this we first need to calculate the elastic energy. Since there is only two non-nill components, the equation of the
linear elastic energy can be simplified :
M fy 2 Tx 2
W L (z) = +
2EIy 2GS
The resultants are symmetrical, therefore the calculation of the integral is :
Z L Z L/2 
L (P/3)2 · z 2 (P/2)2  L3 P 2 LP 2
W = W (z)dz = 2 + dz ⇐⇒ W = +
0 0 2EIy 2GS 96EIy 8GS
The calculation using Matlab yields :

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INSA-Lyon - 4SGM - Mechanics of materials chapter 3: Beam mechanics : energy

clear all % symbolic c a l c u l a t i o n of the i n t e g r a l

syms Mf T E I G S z L P
Mf( z ) = P/2∗ z ;
T = P/ 2 ;
Wf = Mf( z ) ^ 2 / ( 2 ∗E∗ I ) + T ^ 2 / ( 2 ∗G∗S )

Wf =
P2 P 2z2
+
8GS 8EI

W= 2∗ i n t (Wf, z , 0 , L/ 2 )

W =
L3 P 2 LP 2
+
96EI 8GS
The application of the theorem is :

Pu 2W L3 P LP
W = ⇐⇒ u = = +
2 P 48EIy 4GS

We see that the displacement is the sum of two contributions, that of M fy and that of Tx . We can see that the
contribution of the shear force is very small as compared to the other one. To verify this we can take an example of a
w4 E E
square cross-section for which Iy = , furthermore as a first approximation we can consider that G = ≈
12 2(1 + ν) 3
and we replace in both displacement components :

L3 P L3 P LP 3LP
uM f y = = and uTx = ≈
48EIy 4Ew4 4GS 4Ew2

The ratio is therefore equal to uM fy /uTx = 1/3 · (L/w)2 , recalling that a beam should have an aspect ratio L/w > 10 ,
the contribution of the shear force is mostly negligible, which means that we can often simplify the calculation
of the displacement, considering only the contribution of the bending moment.

Example : beam with an applied moment

~ = M · ~y in G (Figure 3).
We consider a beam of of length L, of axis ~z submitted to an applied moment M

Figure 3: Beam with a moment applied in G where the rotation is θ.

There are two unknowns non nil reactions RG,x and RD,x that can be calculated through the equilibrium equations :
(
RG,x + RD,x = 0
M + LRD,x = 0

Solving the system leads to RD,x = −M/L and RG,x = M/L There are two components for the fundamental diagram
Tx and M fy , and there is no discontinuity on each, which leads to :

z [0, L[
Tx (z) M/L
M fy (z) −M/L · z + M

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INSA-Lyon - 4SGM - Mechanics of materials chapter 3: Beam mechanics : energy

The elastic energy is therefore equal to :

L
(−M/L · z + M/L)2 LM 2
Z
W = dz =
0 2EIy 6EIy

The volume energy can be calculated using Matlab :

syms M L E I z
Mf( z ) = -M/L∗ z +M;
W= 1 / ( 2 ∗E∗ I ) ∗ i n t ( ( Mf( z ) ) ^ 2 , z , 0 , L)

W =
LM 2
6EI
1 2W LM
The theorem of Clapeyron states : W = M θ ⇐⇒ θ = ⇐⇒ θ = where θ is the rotation en G of the beam
2 M 3EIy
around the axis y.

3 Castigliano’s theorem
3.1 definition
The derivative of the elastic energy with respect to a given load (moment) is equal to the corresponding displacement
(rotation). It means that if we consider a beam loaded by n different forces (and/or moments) applied at n application
∂W
points, the derivative of the energy, with respect of one load gives the displacement (or moment) : ui = or
∂Pi
∂W
θi = .
∂Mi
This theorem can therefore be applied to calculate the displacement or the rotation of any point where a force or a
moment is applied. So for instance for the beam in Figure 4, one calculate the displacement ux at points 1 and 2 and
the rotation θy at point 3.

Figure 4: Beam submitted to two forces and one moment in 3 different points.

(1) ∂W (2) ∂W (3) ∂W

The expressions are the following : ux = ux = θy =
∂P1 ∂P2 ∂M3
If we consider this other example of a force with two components along x and z (Figure 5) :

Figure 5: Beam with a force exhibiting two components along x and z.

The force can be decomposed into two forces : Pz = −P cos α and Px = P sin α, then applying the Clapeyron’s theorem
∂W ∂W
allows to calculate both displacements ux = and uz = at the point 1.
∂Px ∂Pz

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INSA-Lyon - 4SGM - Mechanics of materials chapter 3: Beam mechanics : energy

3.2 Examples on beams :

Example 1 : simple case of one load
Let’s consider the centred three point bending beam of part 3-2 (Figure 6)

Figure 6: Three point bending beam.

We have already solved it applying the Clapeyron’s theorem. We can also calculate the displacement at the center
applying Castigliano. We have seen that neglecting the shear force contribution, the elastic energy of the beam is equal
L3 P 2
to W = . Applying Castigliano leads to :
96EIy

∂W L3 P
ux = =
∂P 48EIy
which is indeed the same result.

Example 2 : case with several loads

We consider a beam loaded by a force P in z = L/2 and P/2 in z = L/4 (Figure 7). Castigliano’s theorem allows to
(1) (2)
calculate the displacements ux and ux :

Figure 7: Beam with two loads at points 1 and 2.

In order to apply the Castigliano’s theorem, we need to be able to identify each force, therefore, we need to replace
for instance P by P1 and P/2 by P2 . This makes the calculation more tedious, and we can advantageously use the
computer to to it
Calculation of the reactions RG,x and RD,x :
P1 3P2
 
 RG,x + P1 + P2 + RD,x = 0  RG,x = −
 −
⇐⇒ 2 4
 L P2 + L P1 + RD,x = 0 P1 P2
RD,x = − −

4 2

2 4
Calculated by Matlab leads to :

clear all
syms Rg Rd P1 P2 L z C2 C3 E I
e1 = Rg + P2 + P1 + Rd ; % equilibrium forces
e2 = L/4∗P2 + L/2∗P1 + Rd∗L ; % e q u i l i b r i u m moments
[ A, B ] = e q u a t i o n s T o M a t r i x ( [ e1 , e2 ] , [ Rg , Rd ] ) ;
mat = i n v (A) ∗B ;
Rg = s i m p l i f y ( mat ( 1 ) ) % c a l c u l a t i o n o f t h e r e a c t i o n s

Rg =
P1 3P2
− −
2 4

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INSA-Lyon - 4SGM - Mechanics of materials chapter 3: Beam mechanics : energy

Rd = s i m p l i f y ( mat ( 2 ) )

Rd =
P1 P2
− −
2 4
The fundamental diagram is the following :
z [0, L/4[ [L/4, L/2[ [L/2, L[
P1 3P2 P1 P2 P1 P2
Tx (z) − − − + +
P 2 4 P 2 4 2 4
1 3P2  1 P2   P
1 P2 
M fy (z) − · z + C1 − · z + C2 − − · z + C3
2 4 2 4 2 4
The boundary conditions are :


 M fy (0) = 0 ⇐⇒ C1 = 0

 LP2
M fy (L/4− ) = M fy (L/4+ ) ⇐⇒ C2 =

 4


 M fy (L) = 0 ⇐⇒ C3 = 2P 1 L P 2 L
+

8 8
which has been solved using Malab :

T1 = Rg ; T2 = T1 + P2 ; T3 = - Rd ; % Shear f o r c e
M1( z ) = - T1∗ z ; M2( z ) = - T2∗ z + C2 ; M3( z ) = - T3∗ z + C3 ; % bending moment with c t e
e1 = M1(L/ 4 ) -M2(L/ 4 ) ; % boundary e q u a t i o n s
e2 = M3(L) ;
[ A, B ] = e q u a t i o n s T o M a t r i x ( [ e1 , e2 ] , [ C2 , C3 ] ) ;
mat = i n v (A) ∗B ;
C2 = s i m p l i f y ( mat ( 1 ) ) % determination of constants

C2 =
LP2
4
C3 = s i m p l i f y ( mat ( 2 ) )

C3 =
 
P1 P2
L +
2 4

M2( z ) = - T2∗ z + C2 ; M3( z ) = - T3∗ z + C3 ; % r e w r i t i n g o f t h e moments

Let’s calculate the energy, neglecting the contribution of the shear force :
Z L
M fy (z)2
W = dz
0 2EIy

L L/4 Z L/2 
M fy (z)2
Z Z
1 P
1 3P2 2 P1 P2  LP2 2
W = dz ⇐⇒ W = + dz + − ·z+ dz + . . .
0 2EIy 2RIy 0 2 4 L/4 2 4 4
Z L  
P1 P2  P1 L P2 L  2
··· + − − ·z+ + dz
L/2 2 4 2 4
This is not difficult, but of course easier to calculate with a computer (see bellow), which gives the following result :
(16P1 2 + 22P1 P2 + 9P2 2 )L3
W =
1536EIy

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INSA-Lyon - 4SGM - Mechanics of materials chapter 3: Beam mechanics : energy

W= 1 / ( 2 ∗E∗ I ) ∗ ( i n t (M1( z ) ^ 2 , z , 0 , L/ 4 ) + i n t (M2( z ) ^ 2 , z , L/ 4 ,L/ 2 ) + i n t (M3( z ) ^ 2 , z , L/ 2 ,L) ) ;

W= s i m p l i f y (W)

W =
L3 16P1 2 + 22P1 P2 + 9P2 2

1536EI
The calculation of both displacements can now be achieved and it is straightforward

∂W (32P1 + 22P2 ) 3
u(1)
x = = L
∂P1 1536EIy
∂W (22P1 + 18P2 ) 3
u(2)
x = = L
∂P2 1536EIy

it has been done using Matlab :

ux1 = d i f f (W, P1 )

ux1 =
L3 (32P1 + 22P2 )
1536EI

ux2 = d i f f (W, P2 )

ux2 =
L3 (22P1 + 18P2 )
1536EI
It is interesting to note that the displacement on one point depends on the contribution of the two loads. This can be
generalised, stating that the contribution of a displacement at one point depends on the different loads applied on the
beam. It is however obvious that a force along, for instance,~z does not contribute to a displacement along, for instance
~x.
Lets come back to the initial problem, replacing P1 = P and P2 = P/2, which leads to the result :

∂W 43P
u(1)
x = = L3
∂P1 1536EIy
∂W 31P
u(2)
x = = L3
∂P2 1536EIy

Again done with Matlab :

P2n = P1 / 2 ;
ux1 = s u b s ( ux1 , P2 , P2n )

ux1 =
43L3 P1
1536EI

ux2 = s u b s ( ux2 , P2 , P2n )

ux2 =
31L3 P1
1536EI
Let’s plot the fundamental diagram using Matlab (see Figure 8):

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INSA-Lyon - 4SGM - Mechanics of materials chapter 3: Beam mechanics : energy

L = 1 ; P1 = 1 0 0 0 ; P2 = 5 0 0 ;
z1 = 0 : L / 4 / 1 0 : L / 4 ; z2 = L / 4 : ( L/2 - L/ 4 ) / 1 0 : L / 2 ; z3 = L / 2 : L / 2 / 1 0 : L ; z = [ z1 z2 z3 ] ;
Mf1 = e v a l (M1( z1 ) ) ; Mf2 = e v a l (M2( z2 ) ) ; Mf3 = e v a l (M3( z3 ) ) ; Mf = [ Mf1 Mf2 Mf3 ] ;
T1x = e v a l (T1 + ( z1 ∗ 0 ) ) ; T2x = e v a l (T2 + ( z2 ∗ 0 ) ) ; T3x = e v a l (T3 + ( z3 ∗ 0 ) ) ;
Tx = [ T1x T2x T3x ] ;
figure
ax1 = s u b p l o t ( 2 , 1 , 1 ) ;
p l o t ( ax1 , z , Tx , ’ r ’ , ’ lineWidth ’ , 2 )
t i t l e ( ’ Shear f o r c e ’ )
y l a b e l ( ’T _ x ’ , ’ FontSize ’ , 1 4 ) ;
x t i c k s ( [ 0 L/4 L/2 L ] ) ; x t i c k l a b e l s ( { ’ 0 ’ , ’ L / 4 ’ , ’ L / 2 ’ , ’ L ’ } ) ;
g r i d on
ax2 = s u b p l o t ( 2 , 1 , 2 ) ;
p l o t ( ax2 , z , Mf , ’ b ’ , ’ lineWidth ’ , 2 )
t i t l e ( ’ Bending moment ’ )
y l a b e l ( ’ Mf _ y ’ , ’ FontSize ’ , 1 4 ) ;
x t i c k s ( [ 0 L/4 L/2 L ] ) ; x t i c k l a b e l s ( { ’ 0 ’ , ’ L / 4 ’ , ’ L / 2 ’ , ’ L ’ } ) ;
g r i d on

Shear force
1000

500
Tx

-500

-1000
0 L/4 L/2 L

Bending moment
400

300
Mf y

200

100

0
0 L/4 L/2 L

Figure 8: Graphe de Tx et M fy de la poutre presented figure 7.

4 Maxwell-Mohr theorem
4.1 Superposition and proportionality
Simplification of the writing
We have seen that the expression of the linear energy is :

M fx 2 M fy 2 Nx 2 Tx 2 Ty 2 M tz 2
W L (z) = + + + + +
2EIx 2EIy 2ES 2GS 2GS 2GIG

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INSA-Lyon - 4SGM - Mechanics of materials chapter 3: Beam mechanics : energy

If we call M any of the six components of the resultant force and moment, if we call R (like a rigidity or a stiffness)
any of the product EIy , ES, GS, GIG the linear energy can be written as :
6 
X M2 
W L (z) =
i=1
2R i

or even simpler when suppressing (on the writing) the sum sign :

M2
W L (z) =
2R
The superposition principle states that any resultant force and moment of a beam submitted to n forces is equal
to the sum of the resultant force and moment of the beam with all the forces but one and of the resultant force and
moment of the beam with only that load, which can be written as :

M (P1 , P2 , · · · , Pn ) = M (P1 , P2 , · · · , Pi−1 , Pi+1 , · · · , Pn ) + M (Pi )

This can be of practical use, when calculating a beam with two loads that we decompose into two beams with one load
(c) (a) (b)
each as shown in Figure 9 where we have M fy = M fy + M fy .

Figure 9: Illustration of the superposition principal

The proportionality principle is rather obvious, it states that the resultant force and moment of a single load
M (Pi ) is proportional to that load, which can be written M (Pi ) = αPi where α is a constant. It can also be written
M (Pi ) = M (Pi = 1) · Pi , where M (Pi = 1) means "the function M in which Pi is assigned to one". For instance
considering the three point bending in z ∈ [0, L/2[ :


M fy = (P/2) · z ⇐⇒ M fy = (1/2) · z · P and Tx = −P/2 ⇐⇒ Tx = (−1/2) · P

4.2 definition of Maxwell-Mohr

Let’s consider a beam with n loads Pi (forces or moments) and we apply the Castigliano’s theorem to calculate the
displacement ui at the load Pi . This means that each component of the resultant force and moment is a function of
the n loads, i.e. M (P1 , P2 , · · · , Pn ) .

L L
M (P1 , P2 , · · · , Pn )2  ∂  M (P1 , P2 , · · · , Pn )2 
Z Z
∂ 
ui = dz ⇐⇒ ui = dz
∂Pi 0 2R 0 ∂Pi 2R
Z L
2M ∂M 
⇐⇒ ui = · d
0 2R ∂Pi

Decomposing M according to the superposition theorem leads to :

M (P1 , P2 , · · · , Pn ) = M (P1 , P2 , · · · , Pi−1 , Pi+1 , · · · , Pn ) + M (Pi )

and writing the proportionality principle on the second term leads to :

M (P1 , P2 , · · · , Pn ) = M (P1 , P2 , · · · , Pi−1 , Pi+1 , · · · , Pn ) + Pi · M (Pi = 1)

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The calculation of the derivative of M with respect to Pi is simpler :

∂M ∂(Pi · M (Pi = 1) ∂M
=0+ ⇐⇒ = M (Pi = 1)
∂Pi ∂Pi ∂Pi
Replacing in the equation of the displacement above leads to :
Z L
M (P1 , P2 , · · · , Pn ) · M (Pi = 1) 
ui = dz
0 R
The writting "M · M (Pi = 1)" is the product of resultant on a beam by this resultant on the same beam where we have
only a single load applied : Pi .
This theorem written like this would suggest that we can calculate the displacement at any point where you have a
load, so identical to Castigliano. In fact it can also been applied to calculate the displacement in a point
where there is no load, as shown below.
We have already written M (P1 , P2 , · · · , Pn ) = M (P1 , P2 , · · · , Pi−1 , Pi+1 , · · · , Pn ) + Pi · M (Pi = 1) that we can replace
directly in the expression of Maxwell Mohr :
Z L Z L
M (P1 , P2 , · · · , Pi−1 , Pi+1 , · · · , Pn ) + M (Pi = 1)  M (Pi = 1) + M (Pi = 1) 
ui = dz + Pi · dz
0 R 0 R
In this expression considering a point i where there is no load means a load Pi = 0, which reduces the second integral
to 0, so in the end, one can write the Maxwell-Mohr theorem as:
Z L
M (P1 , P2 , · · · , Pi−1 , Pi+1 , · · · , Pn ) + M (Pi = 1) 
ui = dz
0 R
This means that applying the Maxwell-Mohr theorem allows to calculate the displacement at any point of the beam.

4.3 Application of Maxwell-Mohr

Let’s again consider the three point bending beam (Figure 10).

Figure 10: Three point bending beam, searching for the displacement in z = L/4

We want to calculate the displacement in z = L/4 where no load is applied. Clearly this can not been done using the
Clapeyron or Castigliano theorem. Rewriting the Maxwell-Mohr theorem for the specific case gives
Z L
M fy (P ) · mfy (PL/4 = 1) 
uL/4 = dz
0 EIy
In fact there are only two components of the resultant Tx and M fy , and we neglect the shear force, in that case,
R = EIy .
• M fy (P ) represents the bending moment of the beam with the load P applied in the center.
• mfy (PL/4 = 1) represents the bending moment of the same beam where we remove all the applied load ( P in
the present case), and add a sing load of value 1 at z = L/4. It is represented in Figure 11.
Note that we have written the bending moment of that configuration mfy with a lower case letter, just to distinguish
with the other one and to recall that this a specific case loaded with a unit force.
We have to calculate the product of two functions, each defined in two parts, therefore, we have to decompose the
integration into 3 parts :
Z L/4 Z L/2 Z L
M fy · mfy M fy · mfy M fy · mfy
uL/4 = dz + dz + dz
0 EI y L/4 EI y L/2 EIy
A. We already have calculated M fy

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INSA-Lyon - 4SGM - Mechanics of materials chapter 3: Beam mechanics : energy

Figure 11: Beam with a value of unit value at z = L/4 where we want to calculate the displacement

z ∈ [0, L/2[ M fy = (P/2) · z and z ∈ [L/2, L[ M fy = −(P/2) · z + P L/2

B. we need to calculate mfy (see Figure 11)

They are two reactions on that beam rG,x and rD,x
( (
rG,x + 1 + rD,x = 0 rG,x = −3/4
⇐⇒
L/4 · 1 + L · rD,x = 0 rD,x = −1/4

The fundamental diagram is therefore :

z [0, L/2[ [L/2, L[
tx (z) −3/4 1/4
mfy (z) (3/4) · z −(1/4) · z + (1/4)L
Let’s make the calculation using Matlab :

clear all
syms P L z E I
Mf1 ( z ) = P/2∗ z ; Mf2 ( z ) = -P/2∗ z + P∗L / 2 ;
mf1 ( z ) = 3/4∗ z ; mf2 ( z ) = - 1/4∗ z + L / 4 ;
u = 1 / (E∗ I ) ∗ ( i n t ( Mf1 ( z ) ∗mf1 ( z ) , z , 0 , L/ 4 ) + i n t ( Mf1 ( z ) ∗mf2 ( z ) , z , L/ 4 ,L/ 2 ) + . . .
i n t ( Mf2 ( z ) ∗mf2 ( z ) , z , L/ 2 ,L) )

u =
11L3 P
768EI

5 Mohr integral tables

RL
Most of the energy calculations require to integrate a product of functions, of the type 0 M1 · M2 · dz , with piecewise
functions. Also not difficult such a calculation is rather tedious. The use of a formal or numerical dedicated software
highly facilitates these calculations. Before the massive flow of computers and codes present everywhere, conducting
such design calculation was difficult. Therefore, since these functions are simple and often similar Mohr proposed a
series of tables listing the results of such integrals defined with parameters. They can still be useful when you do not
have a computer to make the calculation. Figure 12 displays an abstract of such an integral table.
Rl
The above table gives you the results of the integral : 1l 0 MN · MF · dz.
Let’s re-do the example 3-4-3 of Maxwell-Mohr theorem using this table as an example. It is convenient to plot both
functions M fy (z) and mfy (z) (see Figure 13.

L = 1; P = 100; % a s s i g n e d e s v a l e u r s énumriques
z1 = 0 : L / 2 / 2 0 : L / 2 ; z2 = L / 2 : ( L - L/ 2 ) / 2 0 : L ; za = [ z1 z2 ] ;
z3 = 0 : L / 4 / 2 0 : L / 4 ; z4 = L / 4 : ( L - L/ 4 ) / 2 0 : L ; zb = [ z3 z4 ] ;
M1 = e v a l ( Mf1 ( z1 ) ) ; M2 = e v a l ( Mf2 ( z2 ) ) ; M= [M1 M2 ] ;
m1 = e v a l ( mf1 ( z3 ) ) ; m2 = e v a l ( mf2 ( z4 ) ) ; m= [ m1 m2 ] ;
figure
ax1 = s u b p l o t ( 2 , 1 , 1 ) ;
p l o t ( ax1 , za ,M, ’ g ’ , ’ lineWidth ’ , 2 )

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Figure 12: Table of the Mohr integrals

t i t l e ( ’ beam with f o r c e P ’ )
y l a b e l ( ’ Mf _ y ’ , ’ FontSize ’ , 1 4 ) ;
x t i c k s ( [ 0 L/4 L/2 L ] ) ; x t i c k l a b e l s ( { ’ 0 ’ , ’ L / 4 ’ , ’ L / 2 ’ , ’ L ’ } ) ;
y t i c k s ( [ 0 P∗L/8 P∗L / 4 ] ) ; y t i c k l a b e l s ( { ’ 0 ’ , ’ PL/ 8 ’ , ’PL/ 4 ’ } ) ;
g r i d on
ax2 = s u b p l o t ( 2 , 1 , 2 ) ;
p l o t ( ax2 , zb ,m, ’ k ’ , ’ lineWidth ’ , 2 )
t i t l e ( ’ beam with u n i t f o r c e ’ )
y l a b e l ( ’ mf _ y ’ , ’ FontSize ’ , 1 4 ) ;
x t i c k s ( [ 0 L/4 L/2 L ] ) ; x t i c k l a b e l s ( { ’ 0 ’ , ’ L / 4 ’ , ’ L / 2 ’ , ’ L ’ } ) ;
y t i c k s ( [ 0 L/16 2∗L/16 3∗L / 1 6 ] ) ; y t i c k l a b e l s ( { ’ 0 ’ , ’ 3 L / 1 6 ’ , ’ 2 L / 1 6 ’ , ’ 3 L / 1 6 ’ } ) ;
g r i d on

beam with force P

PL/4
Mf y

PL/8

0
0 L/4 L/2 L

beam with unit force

3L/16

2L/16
mf y

3L/16

0
0 L/4 L/2 L

Figure 13: Plot of the functions M fy (z) and mfy (z).

The displacement is again calculated applying the Maxwell-Mohr equation :

Z L
1 1
uL/4 M fy (P ) · mfy (PL/4 = 1)dz = · IMInt
EIy 0 EIy

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INSA-Lyon - 4SGM - Mechanics of materials chapter 3: Beam mechanics : energy

where IMInt is the the integral calculated with the Mohr tables.
The area must be again split into 3 parts. The first one is defined as the product of two triangles, the second one of
two trapezoids, and the final one of two triangles (see Figure 14).

R
Figure 14: Functions M fy (z) and mfy (z), decomposed into three parts to prepare the calculation M fy (z)mfy (z)dz
by the Mohr integral table.

Therefore, the calcul of IMInt is the following :

     
1 L 1 1 L 1 1
IMInt = M1 M3 × + (M1 M3 + M2 M4 ) + (M1 M4 + M2 M3 ) × + M1 M3 ×
3 4 3 6 4 3 2
Remplacing each value and splitting into 3 terms to simplify :
 
(1) 1 P L 3L L 3
IMInt = · × = P L3
3 8 16 4 1536
    
(2) 1 P L 3L P L 3L L P L 2L P L 3L L 7 4 11
IMInt = · + · + · + · × = P L3 + P L3 = P L3
3 8 16 8 16 6 8 16 4 16 4 1536 1536 1536
 
(3) 1 P L 2L L 8
IMInt = · × = P L3
3 4 16 2 1536

So in the end, IMInt = IMInt (1) + IMInt (2) + IMInt (3) = 11

768 P L
3
, which is indeed the same result as the previous one
after multiplying by 1/EIy so that :
11P L3
uL/4 =
768EIy

6 Questions of chapter 3
3-1 Elastic energy
- Establish that for a beam of axis z and only forces along x axis, the volume elastic energy is given by :
1 1
WV = (σzz 2 ) + (σyz 2 + σxz 2 )
2E 2G
- Define the "volume energy" and the "energy" and write the relation between them.
- Consider a cantilever of length L and of circular cross-section of diameter d, submitted to a force F . Considering
the elastic contants E and ν, calculate the energy stored in the beam.
- The synthetic symbolic equation of the linear energy has been written :
6 
X M2 
W L (z) =
i=1
2R i

specify what are M and R for (i) a beam exhibiting only two components Tx (z) and M fy (z) of F~ (z) and C
~ G (z)
~ ~
and (ii) for the general case of a beam exhibiting the 6 components of F (z) and CG (z)

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3-2 Energy theorems

- Write the Clapeyron’s theorem and specify for which conditions it allows to calculate the displacement.
- Write the Castigliano theorem and specify for which conditions it allows to calculate the displacement.
- Write the Maxwell-Mohr theorem and specify for which conditions it allows to calculate the displacement.

- Consider a cantilever beam, clamped on the left, made of aluminum of axis z length L = 2 m, of height h = 40 mm
(along x-axis), and width w = 30 mm, a force F = 1 kN is applied along x-axis. Using Matlab, calculate the
displacements at z = L and z = L/2 and the rotation in z = 0.
- Make the same calculations using the Mohr integral tables.

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